Fuzzy Immune PD Algorithm Applied in the Self-Balancing Two-Wheeled Robot

Abstract

Some parameter such as force and speed etc of self-balance two-wheeled robot are nonlinear, so their mathematical model of the control system is difficult to establish. This paper designed a fuzzy immune PD controller, which can achieve self-balance of two-wheeled robot. Through the simulation study, the results show that fuzzy immune PD controller has some advantages compared with the conventional fuzzy PD controller, such as smaller overshoot amount, short adjustment time, and strong anti-jamming capability.